OpenRaiser/Intern-Atlas huggingface dataset:
Motion Planning Networks
Venue: arXiv cs.RO 2019
Year: 2019

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue, we present Motion Planning Networks (MPNet), a neural network-based novel planning algorithm. The proposed method encodes the given workspaces directly from a point cloud measurement and generates the end-to-end collision-free paths for the given start and goal configurations. We evaluate MPNet on various 2D and 3D environments including the planning of a 7 DOF Baxter robot manipulator. The results show that MPNet is not only consistently computationally efficient in all environments but also generalizes to completely unseen environments. The results also show that the computation time of MPNet consistently remains less than 1 second in all presented experiments, which is significantly lower than existing state-of-the-art motion planning algorithms.
Image classification and retrieval with random depthwise signed convolutional neural networks
Venue: arXiv cs.CV 2019
Year: 2019

We propose a random convolutional neural network to generate a feature space in which we study image classification and retrieval performance. Put briefly we apply random convolutional blocks followed by global average pooling to generate a new feature, and we repeat this k times to produce a k-dimensional feature space. This can be interpreted as partitioning the space of image patches with random hyperplanes which we formalize as a random depthwise convolutional neural network. In the network's final layer we perform image classification and retrieval with the linear support vector machine and k-nearest neighbor classifiers and study other empirical properties. We show that the ratio of image pixel distribution similarity across classes to within classes is higher in our network's final layer compared to the input space. When we apply the linear support vector machine for image classification we see that the accuracy is higher than if we were to train just the final layer of VGG16, ResNet18, and DenseNet40 with random weights. In the same setting we compare it to an unsupervised feature learning method and find our accuracy to be comparable on CIFAR10 but higher on CIFAR100 and STL10. We see that the accuracy is not far behind that of trained networks, particularly in the top-k setting. For example the top-2 accuracy of our network is near 90% on both CIFAR10 and a 10-class mini ImageNet, and 85% on STL10. We find that k-nearest neighbor gives a comparable precision on the Corel Princeton Image Similarity Benchmark than if we were to use the final layer of trained networks. As with other networks we find that our network fails to a black box attack even though we lack a gradient and use the sign activation. We highlight sensitivity of our network to background as a potential pitfall and an advantage. Overall our work pushes the boundary of what can be achieved with random weights.
Solving $(k-1)$-Stable Instances of k-Terminal Cut with Isolating Cuts
Venue: arXiv cs.DS 2019
Year: 2019

The k-Terminal Cut problem, also known as the Multiway Cut problem, is defined on an edge-weighted graph with $k$ distinct vertices called "terminals." The goal is to remove a minimum weight collection of edges from the graph such that there is no path between any pair of terminals. The problem is NP-hard. Isolating cuts are minimum cuts that separate one terminal from the rest. The union of all the isolating cuts, except the largest, is a $(2-2/k)$-approximation to the optimal k-Terminal Cut. This is the only currently-known approximation algorithm for k-Terminal Cut which does not require solving a linear program. An instance of k-Terminal Cut is $γ$-stable if edges in the cut can be multiplied by up to $γ$ without changing the unique optimal solution. In this paper, we show that, in any $(k-1)$-stable instance of k-Terminal Cut, the source sets of the isolating cuts are the source sets of the unique optimal solution of that k-Terminal Cut instance. We conclude that the $(2-2/k)$-approximation algorithm returns the optimal solution on $(k-1)$-stable instances. Ours is the first result showing that this $(2-2/k)$-approximation is an exact optimization algorithm on a special class of graphs. We also show that our $(k-1)$-stability result is tight. We construct $(k-1-ε)$-stable instances of the k-Terminal Cut problem which only have trivial isolating cuts: that is, the source set of the isolating cuts for each terminal is just the terminal itself. Thus, the $(2-2/k)$-approximation does not return an optimal solution.
Multimodal Grounding for Language Processing
Venue: arXiv cs.CL 2019
Year: 2019

This survey discusses how recent developments in multimodal processing facilitate conceptual grounding of language. We categorize the information flow in multimodal processing with respect to cognitive models of human information processing and analyze different methods for combining multimodal representations. Based on this methodological inventory, we discuss the benefit of multimodal grounding for a variety of language processing tasks and the challenges that arise. We particularly focus on multimodal grounding of verbs which play a crucial role for the compositional power of language.
A Multi-Observer Approach for Attack Detection and Isolation of Discrete-Time Nonlinear Systems
Venue: arXiv cs.SY 2019
Year: 2019

We address the problem of attack detection and isolation for a class of discrete-time nonlinear systems under (potentially unbounded) sensor attacks and measurement noise. We consider the case when a subset of sensors is subject to additive false data injection attacks. Using a bank of observers, each observer leading to an Input-to-State Stable (ISS) estimation error, we propose two algorithms for detecting and isolating sensor attacks. These algorithms make use of the ISS property of the observers to check whether the trajectories of observers are `consistent' with the attack-free trajectories of the system. Simulations results are presented to illustrate the performance of the proposed algorithms.
Towards Distributed Energy Services: Decentralizing Optimal Power Flow with Machine Learning
Venue: arXiv cs.LG 2019
Year: 2019

The implementation of optimal power flow (OPF) methods to perform voltage and power flow regulation in electric networks is generally believed to require extensive communication. We consider distribution systems with multiple controllable Distributed Energy Resources (DERs) and present a data-driven approach to learn control policies for each DER to reconstruct and mimic the solution to a centralized OPF problem from solely locally available information. Collectively, all local controllers closely match the centralized OPF solution, providing near optimal performance and satisfaction of system constraints. A rate distortion framework enables the analysis of how well the resulting fully decentralized control policies are able to reconstruct the OPF solution. The methodology provides a natural extension to decide what nodes a DER should communicate with to improve the reconstruction of its individual policy. The method is applied on both single- and three-phase test feeder networks using data from real loads and distributed generators, focusing on DERs that do not exhibit inter-temporal dependencies. It provides a framework for Distribution System Operators to efficiently plan and operate the contributions of DERs to achieve Distributed Energy Services in distribution networks.
Polynomial Regression As an Alternative to Neural Nets
Venue: arXiv cs.LG 2019
Year: 2019

Despite the success of neural networks (NNs), there is still a concern among many over their "black box" nature. Why do they work? Here we present a simple analytic argument that NNs are in fact essentially polynomial regression models. This view will have various implications for NNs, e.g. providing an explanation for why convergence problems arise in NNs, and it gives rough guidance on avoiding overfitting. In addition, we use this phenomenon to predict and confirm a multicollinearity property of NNs not previously reported in the literature. Most importantly, given this loose correspondence, one may choose to routinely use polynomial models instead of NNs, thus avoiding some major problems of the latter, such as having to set many tuning parameters and dealing with convergence issues. We present a number of empirical results; in each case, the accuracy of the polynomial approach matches or exceeds that of NN approaches. A many-featured, open-source software package, polyreg, is available.
CryptoGuard: High Precision Detection of Cryptographic Vulnerabilities in Massive-sized Java Projects
Venue: arXiv cs.CR 2019
Year: 2019

Cryptographic API misuses, such as exposed secrets, predictable random numbers, and vulnerable certificate verification, seriously threaten software security. The vision of automatically screening cryptographic API calls in massive-sized (e.g., millions of LoC) Java programs is not new. However, hindered by the practical difficulty of reducing false positives without compromising analysis quality, this goal has not been accomplished. State-of-the-art crypto API screening solutions are not designed to operate on a large scale. Our technical innovation is a set of fast and highly accurate slicing algorithms. Our algorithms refine program slices by identifying language-specific irrelevant elements. The refinements reduce false alerts by 76% to 80% in our experiments. Running our tool, CrytoGuard, on 46 high-impact large-scale Apache projects and 6,181 Android apps generate many security insights. Our findings helped multiple popular Apache projects to harden their code, including Spark, Ranger, and Ofbiz. We also have made substantial progress towards the science of analysis in this space, including: i) manually analyzing 1,295 Apache alerts and confirming 1,277 true positives (98.61% precision), ii) creating a benchmark with 38-unit basic cases and 74-unit advanced cases, iii) performing an in-depth comparison with leading solutions including CrySL, SpotBugs, and Coverity. We are in the process of integrating CryptoGuard with the Software Assurance Marketplace (SWAMP).
Full deep neural network training on a pruned weight budget
Venue: arXiv cs.LG 2019
Year: 2019

We introduce a DNN training technique that learns only a fraction of the full parameter set without incurring an accuracy penalty. To do this, our algorithm constrains the total number of weights updated during backpropagation to those with the highest total gradients. The remaining weights are not tracked, and their initial value is regenerated at every access to avoid storing them in memory. This can dramatically reduce the number of off-chip memory accesses during both training and inference, a key component of the energy needs of DNN accelerators. By ensuring that the total weight diffusion remains close to that of baseline unpruned SGD, networks pruned using our technique are able to retain state-of-the-art accuracy across network architectures -- including networks previously identified as difficult to compress, such as Densenet and WRN. With ResNet18 on ImageNet, we observe an 11.7$\times$ weight reduction with no accuracy loss, and up to 24.4$\times$ with a small accuracy impact.
ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization
Venue: arXiv cs.RO 2019
Year: 2019

We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers greater flexibility in sensor fusion problem design than filtering-based systems and the ability to scale the online estimate quality with the available computing power. We demonstrate its performance in comparison to an iterated extended Kalman filter in visual-inertial tracking, and show its versatility through whole-body sensor fusion on a mobile manipulator.
Age-Minimal Transmission for Energy Harvesting Sensors with Finite Batteries: Online Policies
Venue: arXiv cs.IT 2019
Year: 2019

An energy-harvesting sensor node that is sending status updates to a destination is considered. The sensor is equipped with a battery of finite size to save its incoming energy, and consumes one unit of energy per status update transmission, which is delivered to the destination instantly over an error-free channel. The setting is online in which the harvested energy is revealed to the sensor causally over time, and the goal is to design status update transmission policy such that the long term average age of information (AoI) is minimized. AoI is defined as the time elapsed since the latest update has reached at the destination. Two energy arrival models are considered: a random battery recharge (RBR) model, and an incremental battery recharge (IBR) model. In both models, energy arrives according to a Poisson process with unit rate, with values that completely fill up the battery in the RBR model, and with values that fill up the battery incrementally, unit-by-unit, in the IBR model. The key approach to characterizing the optimal status update policy for both models is showing the optimality of renewal policies, in which the inter-update times follow a specific renewal process that depends on the energy arrival model and the battery size. It is then shown that the optimal renewal policy has an energy-dependent threshold structure, in which the sensor sends a status update only if the AoI grows above a certain threshold that depends on the energy available. For both the RBR and the IBR models, the optimal energy-dependent thresholds are characterized explicitly, i.e., in closed-form, in terms of the optimal long term average AoI. It is also shown that the optimal thresholds are monotonically decreasing in the energy available in the battery, and that the smallest threshold, which comes in effect when the battery is full, is equal to the optimal long term average AoI.
Fast, Anytime Motion Planning for Prehensile Manipulation in Clutter
Venue: arXiv cs.RO 2019
Year: 2019

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still adversely affects the success rate, computation times, and quality of solutions in many real-world setups. The current work integrates tools from existing methodologies and proposes a framework that achieves high success ratio in clutter with anytime performance. The idea is to first explore the lower dimensional end effector's task space efficiently by ignoring the arm, and build a discrete approximation of a navigation function, which guides the end effector towards the set of available grasps or object placements. This is performed online, without prior knowledge of the scene. Then, an informed sampling-based planner for the entire arm uses Jacobian-based steering to reach promising end effector poses given the task space guidance. While informed, the method is also comprehensive and allows the exploration of alternative paths over time if the task space guidance does not lead to a solution. This paper evaluates the proposed method against alternatives in picking or placing tasks among varying amounts of clutter for a variety of robotic manipulators with different end-effectors. The results suggest that the method reliably provides higher quality solution paths quicker, with a higher success rate relative to alternatives.
A unifying method for the design of algorithms canonizing combinatorial objects
Venue: arXiv cs.DS 2019
Year: 2019

We devise a unified framework for the design of canonization algorithms. Using hereditarily finite sets, we define a general notion of combinatorial objects that includes graphs, hypergraphs, relational structures, codes, permutation groups, tree decompositions, and so on. Our approach allows for a systematic transfer of the techniques that have been developed for isomorphism testing to canonization. We use it to design a canonization algorithm for combinatorial objects in general. This result gives new fastest canonization algorithms with an asymptotic running time matching the best known isomorphism algorithm for the following types of objects: hypergraphs, hypergraphs of bounded color class size, permutation groups (up to permutational isomorphism) and codes that are explicitly given (up to code equivalence).
Deep Similarity Metric Learning for Real-Time Pedestrian Tracking
Venue: arXiv cs.CV 2019
Year: 2019

Tracking by detection is a common approach to solving the Multiple Object Tracking problem. In this paper we show how learning a deep similarity metric can improve three key aspects of pedestrian tracking on a multiple object tracking benchmark. We train a convolutional neural network to learn an embedding function in a Siamese configuration on a large person re-identification dataset. The offline-trained embedding network is integrated in to the tracking formulation to improve performance while retaining real-time performance. The proposed tracker stores appearance metrics while detections are strong, using this appearance information to: prevent ID switches, associate tracklets through occlusion, and propose new detections where detector confidence is low. This method achieves competitive results in evaluation, especially among online, real-time approaches. We present an ablative study showing the impact of each of the three uses of our deep appearance metric.
Finding Person Relations in Image Data of the Internet Archive
Venue: arXiv cs.DL 2019
Year: 2019

The multimedia content in the World Wide Web is rapidly growing and contains valuable information for many applications in different domains. For this reason, the Internet Archive initiative has been gathering billions of time-versioned web pages since the mid-nineties. However, the huge amount of data is rarely labeled with appropriate metadata and automatic approaches are required to enable semantic search. Normally, the textual content of the Internet Archive is used to extract entities and their possible relations across domains such as politics and entertainment, whereas image and video content is usually neglected. In this paper, we introduce a system for person recognition in image content of web news stored in the Internet Archive. Thus, the system complements entity recognition in text and allows researchers and analysts to track media coverage and relations of persons more precisely. Based on a deep learning face recognition approach, we suggest a system that automatically detects persons of interest and gathers sample material, which is subsequently used to identify them in the image data of the Internet Archive. We evaluate the performance of the face recognition system on an appropriate standard benchmark dataset and demonstrate the feasibility of the approach with two use cases.
Don't only Feel Read: Using Scene text to understand advertisements
Venue: arXiv cs.CV 2019
Year: 2019

We propose a framework for automated classification of Advertisement Images, using not just Visual features but also Textual cues extracted from embedded text. Our approach takes inspiration from the assumption that Ad images contain meaningful textual content, that can provide discriminative semantic interpretetion, and can thus aid in classifcation tasks. To this end, we develop a framework using off-the-shelf components, and demonstrate the effectiveness of Textual cues in semantic Classfication tasks.
Compact Deep Neural Networks for Computationally Efficient Gesture Classification From Electromyography Signals
Venue: arXiv cs.CV 2019
Year: 2019

Machine learning classifiers using surface electromyography are important for human-machine interfacing and device control. Conventional classifiers such as support vector machines (SVMs) use manually extracted features based on e.g. wavelets. These features tend to be fixed and non-person specific, which is a key limitation due to high person-to-person variability of myography signals. Deep neural networks, by contrast, can automatically extract person specific features - an important advantage. However, deep neural networks typically have the drawback of large numbers of parameters, requiring large training data sets and powerful hardware not suited to embedded systems. This paper solves these problems by introducing a compact deep neural network architecture that is much smaller than existing counterparts. The performance of the compact deep net is benchmarked against an SVM and compared to other contemporary architectures across 10 human subjects, comparing Myo and Delsys Trigno electrode sets. The accuracy of the compact deep net was found to be 84.2 +/- 6% versus 70.5 +/- 7% for the SVM on the Myo, and 80.3+/- 7% versus 67.8 +/- 9% for the Delsys system, demonstrating the superior effectiveness of the proposed compact network, which had just 5,889 parameters - orders of magnitude less than some contemporary alternatives in this domain while maintaining better performance.
Towards Practical Visual Search Engine within Elasticsearch
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we describe our end-to-end content-based image retrieval system built upon Elasticsearch, a well-known and popular textual search engine. As far as we know, this is the first time such a system has been implemented in eCommerce, and our efforts have turned out to be highly worthwhile. We end up with a novel and exciting visual search solution that is extremely easy to be deployed, distributed, scaled and monitored in a cost-friendly manner. Moreover, our platform is intrinsically flexible in supporting multimodal searches, where visual and textual information can be jointly leveraged in retrieval. The core idea is to encode image feature vectors into a collection of string tokens in a way such that closer vectors will share more string tokens in common. By doing that, we can utilize Elasticsearch to efficiently retrieve similar images based on similarities within encoded sting tokens. As part of the development, we propose a novel vector to string encoding method, which is shown to substantially outperform the previous ones in terms of both precision and latency. First-hand experiences in implementing this Elasticsearch-based platform are extensively addressed, which should be valuable to practitioners also interested in building visual search engine on top of Elasticsearch.
Extracting Tree-structures in CT data by Tracking Multiple Statistically Ranked Hypotheses
Venue: arXiv cs.CV 2019
Year: 2019

In this work, we adapt a method based on multiple hypothesis tracking (MHT) that has been shown to give state-of-the-art vessel segmentation results in interactive settings, for the purpose of extracting trees. Regularly spaced tubular templates are fit to image data forming local hypotheses. These local hypotheses are used to construct the MHT tree, which is then traversed to make segmentation decisions. However, some critical parameters in this method are scale-dependent and have an adverse effect when tracking structures of varying dimensions. We propose to use statistical ranking of local hypotheses in constructing the MHT tree, which yields a probabilistic interpretation of scores across scales and helps alleviate the scale-dependence of MHT parameters. This enables our method to track trees starting from a single seed point. Our method is evaluated on chest CT data to extract airway trees and coronary arteries. In both cases, we show that our method performs significantly better than the original MHT method.